From 337c494f90d110758f5e60cfe2eede6c3bf7f92a Mon Sep 17 00:00:00 2001 From: matlabbe Date: Thu, 8 Feb 2024 13:20:53 -0800 Subject: [PATCH] Odom diagnostic: set max_update_rate as target frequency to catch when actual processing time is too slow (e.g., current rate is smaller than max rate) --- rtabmap_odom/src/OdometryROS.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rtabmap_odom/src/OdometryROS.cpp b/rtabmap_odom/src/OdometryROS.cpp index 3a77d19e..b0277010 100644 --- a/rtabmap_odom/src/OdometryROS.cpp +++ b/rtabmap_odom/src/OdometryROS.cpp @@ -1043,7 +1043,7 @@ void OdometryROS::processData(SensorData & data, const std_msgs::Header & header { double curentRate = 1.0/(ros::WallTime::now()-time).toSec(); syncDiagnostic_->tick(header.stamp, - maxUpdateRate_>0 && maxUpdateRate_ < curentRate ? maxUpdateRate_: + maxUpdateRate_>0 ? maxUpdateRate_: expectedUpdateRate_>0 && expectedUpdateRate_ < curentRate ? expectedUpdateRate_: previousStamp_ == 0.0 || header.stamp.toSec() - previousStamp_ > 1.0/curentRate?0:curentRate); }